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Stereo calibration from correspondences of OTV projections

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2 Author(s)
Chung, R. ; Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Shatin, Hong Kong ; Wong, S.-K.

Stereo images have to be calibrated before stereo vision can recover three-dimensional information of the imaged scene. Position constraints over image point correspondences are traditionally used to solve the calibration problem. A method is described that uses angle constraints over correspondences of a particular type of image features, the projections of orthogonal trihedral vertices (OTV), for calibration. Computations of the rotation matrix and the translation vector are separable and the method has a closed-form solution. It also requires correspondences of only two vertex projections at minimum to recover all the transformation parameters which are recoverable from a stereo image pair. Extensive experimental results, including those on real images, are presented and they show that use of angle constraints is generally more accurate than position constraints alone

Published in:

Vision, Image and Signal Processing, IEE Proceedings -  (Volume:142 ,  Issue: 5 )